NYPD officers and EMS transport a man who stole a yellow cab and jumped into the Hudson River.William Farrington

A carjacking in lower Manhattan on Friday morning ended with the suspect in the water, witnesses said.

The 58-year-old suspect stole a yellow cab from in front of the Conrad New York Hotel on North End Avenue around 9 a.m. while the cabbie was outside talking with a doorman, cops said.

“The guy comes up and just takes off in the cab, going maybe 60 miles per hour,” said the doorman, Armando Garcia.

The driver jumped out at 22 River Terrace in Battery Park City, ran to the Hudson River, took off his sneakers and leaped in as a New York Waterways ferry was pulling into the World Financial Center.

“The guy just swan dives. It was like Michael Phelps meets Greg Louganis in an Olympic showdown,” said Nelson Saiers, who lives across the street and witnessed the plunge.

Video from the scene shows the fully clothed man bobbing in the water approximately 20 feet from the pier. Two deckhands aboard the Thomas H. Kean ferry are seen throwing out a life preserver and pulling the exhausted man from the water and onto the boat.

Mark Williams, a 30-year-old ticket booth worker who witnessed the aftermath, said he heard one of the captains on the boat say, “We’re gonna save him. We’re gonna get him out.”